Parallel robot

摘要

An industrial robot with parallel kinematics comprises a robot base; a carrier element used to receive a gripper or a tool; an elongated hollow body, having a continuous cavity, which is moveably connected directly or indirectly to the robot base, with a hollow joint, having a continuous cavity, with several degrees of freedom, via which the elongated hollow body is moveably connected to the carrier element; and the cavity of the joint adjoins the cavity of the elongated hollow body, wherein the elongated hollow body cavity and the hollow joint cavity form a channel from the robot base to the carrier element, with at least one supply line for a gripper or a tool arranged on the carrier element, which at least one supply line is guided from the robot base to the carrier element through the cavity of the elongated hollow body and penetrates the hollow joint.

主权项

1. An industrial robot with parallel kinematics, comprising:
a) a robot base; b) a carrier element used to receive a gripper or a tool, with several moveable, elongated actuating units, which at their one end are connected to drive units arranged on the robot base and the other end of which is moveably connected to the carrier element; c) an elongated hollow body, having a continuous cavity, which is moveably connected directly or indirectly to the robot base, with a first hollow joint, having a continuous cavity, with several degrees of freedom, via which the elongated hollow body is moveably connected to the carrier element; d) the cavity of the first hollow joint adjoins the cavity of the elongated hollow body, wherein the cavity of the elongated hollow body and the cavity of the first hollow joint form a channel from the robot base to the carrier element, with at least one pneumatic or hydraulic or electric or optical supply line for a gripper arranged on the carrier element or a tool arranged on the carrier element, which at least one supply line is guided through the cavity of the elongated hollow body and through the cavity of the first hollow joint from the robot base to the carrier element; e) a second hollow joint with several degrees of freedom, via which the elongated hollow body is connected to the robot base or a drive arranged on the robot base, and that the supply lines are guided through the second hollow joint; f) the elongated hollow body has at least two tubes that are displaceable inside one another in a telescoping manner; and g) the at least one supply line is wound in a screw-shaped or spiral-shaped manner at least in sections in the elongated hollow body.